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<h1>CPML</h1>

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<h2>Contents</h2>
<ul>
<li><a href="#Functions">Functions</a></li>
<li><a href="#Tables">Tables</a></li>
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<h2>Modules</h2>
<ul class="$(kind=='Topics' and '' or 'nowrap'">
  <li><a href="../modules/color.html">color</a></li>
  <li><a href="../modules/constants.html">constants</a></li>
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  <li><a href="../modules/mesh.html">mesh</a></li>
  <li><a href="../modules/octree.html">octree</a></li>
  <li><strong>quat</strong></li>
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  <li><a href="../modules/utils.html">utils</a></li>
  <li><a href="../modules/vec2.html">vec2</a></li>
  <li><a href="../modules/vec3.html">vec3</a></li>
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<h1>Module <code>quat</code></h1>
<p>A quaternion and associated utilities.</p>
<p>

</p>


<h2><a href="#Functions">Functions</a></h2>
<table class="function_list">
	<tr>
	<td class="name" nowrap><a href="#new">new (x, y, z, w)</a></td>
	<td class="summary">The public constructor.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#from_angle_axis">from_angle_axis (angle, axis)</a></td>
	<td class="summary">Create a quaternion from an angle/axis pair.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#from_direction">from_direction (normal, up)</a></td>
	<td class="summary">Create a quaternion from a normal/up vector pair.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#clone">clone (a)</a></td>
	<td class="summary">Clone a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#add">add (out, a, b)</a></td>
	<td class="summary">Add two quaternions.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#sub">sub (out, a, b)</a></td>
	<td class="summary">Subtract a quaternion from another.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#mul">mul (out, a, b)</a></td>
	<td class="summary">Multiply two quaternions.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#mul_vec3">mul_vec3 (out, a, b)</a></td>
	<td class="summary">Multiply a quaternion and a vec3.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#pow">pow (out, a, n)</a></td>
	<td class="summary">Multiply a quaternion by an exponent.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#normalize">normalize (out, a)</a></td>
	<td class="summary">Normalize a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#dot">dot (a, b)</a></td>
	<td class="summary">Get the dot product of two quaternions.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#len">len (a)</a></td>
	<td class="summary">Return the length of a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#len2">len2 (a)</a></td>
	<td class="summary">Return the squared length of a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#scale">scale (out, a, s)</a></td>
	<td class="summary">Multiply a quaternion by a scalar.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#rotate">rotate (angle, axis)</a></td>
	<td class="summary">Alias of from<em>angle</em>axis.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#conjugate">conjugate (out, a)</a></td>
	<td class="summary">Return the conjugate of a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#inverse">inverse (out, a)</a></td>
	<td class="summary">Return the inverse of a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#reciprocal">reciprocal (out, a)</a></td>
	<td class="summary">Return the reciprocal of a quaternion.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#lerp">lerp (out, a, b, s)</a></td>
	<td class="summary">Lerp between two quaternions.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#slerp">slerp (out, a, b, s)</a></td>
	<td class="summary">Slerp between two quaternions.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#unpack">unpack (a)</a></td>
	<td class="summary">Unpack a quaternion into individual components.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#is_quat">is_quat (a)</a></td>
	<td class="summary">Return a boolean showing if a table is or is not a quat.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#is_zero">is_zero (a)</a></td>
	<td class="summary">Return a boolean showing if a table is or is not a zero quat.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#is_real">is_real (a)</a></td>
	<td class="summary">Return a boolean showing if a table is or is not a real quat.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#is_imaginary">is_imaginary (a)</a></td>
	<td class="summary">Return a boolean showing if a table is or is not an imaginary quat.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#to_angle_axis">to_angle_axis (a)</a></td>
	<td class="summary">Convert a quaternion into an angle/axis pair.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#to_vec3">to_vec3 (a)</a></td>
	<td class="summary">Convert a quaternion into a vec3.</td>
	</tr>
	<tr>
	<td class="name" nowrap><a href="#to_string">to_string (a)</a></td>
	<td class="summary">Return a formatted string.</td>
	</tr>
</table>
<h2><a href="#Tables">Tables</a></h2>
<table class="function_list">
	<tr>
	<td class="name" nowrap><a href="#quat">quat</a></td>
	<td class="summary">Constants</td>
	</tr>
</table>

<br/>
<br/>


    <h2 class="section-header "><a name="Functions"></a>Functions</h2>

    <dl class="function">
    <dt>
    <a name = "new"></a>
    <strong>new (x, y, z, w)</strong>
    </dt>
    <dd>
    The public constructor.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">x</span>
         Can be of two types: </br>
 number x X component
 table {x, y, z, w} or {x=x, y=y, z=z, w=w}
        </li>
        <li><span class="parameter">y</span>
            <span class="types"><span class="type">number</span></span>
         Y component
        </li>
        <li><span class="parameter">z</span>
            <span class="types"><span class="type">number</span></span>
         Z component
        </li>
        <li><span class="parameter">w</span>
            <span class="types"><span class="type">number</span></span>
         W component
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "from_angle_axis"></a>
    <strong>from_angle_axis (angle, axis)</strong>
    </dt>
    <dd>
    Create a quaternion from an angle/axis pair.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">angle</span>
            <span class="types"><span class="type">number</span></span>
         Angle (in radians)
        </li>
        <li><span class="parameter">axis</span>
            <span class="types"><span class="type">vec3</span></span>



        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "from_direction"></a>
    <strong>from_direction (normal, up)</strong>
    </dt>
    <dd>
    Create a quaternion from a normal/up vector pair.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">normal</span>
            <span class="types"><span class="type">vec3</span></span>



        </li>
        <li><span class="parameter">up</span>
            <span class="types"><span class="type">vec3</span></span>



        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "clone"></a>
    <strong>clone (a)</strong>
    </dt>
    <dd>
    Clone a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to clone
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "add"></a>
    <strong>add (out, a, b)</strong>
    </dt>
    <dd>
    Add two quaternions.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "sub"></a>
    <strong>sub (out, a, b)</strong>
    </dt>
    <dd>
    Subtract a quaternion from another.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "mul"></a>
    <strong>mul (out, a, b)</strong>
    </dt>
    <dd>
    Multiply two quaternions.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "mul_vec3"></a>
    <strong>mul_vec3 (out, a, b)</strong>
    </dt>
    <dd>
    Multiply a quaternion and a vec3.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><span class="type">vec3</span></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "pow"></a>
    <strong>pow (out, a, n)</strong>
    </dt>
    <dd>
    Multiply a quaternion by an exponent.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">n</span>
            <span class="types"><span class="type">number</span></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "normalize"></a>
    <strong>normalize (out, a)</strong>
    </dt>
    <dd>
    Normalize a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to normalize
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "dot"></a>
    <strong>dot (a, b)</strong>
    </dt>
    <dd>
    Get the dot product of two quaternions.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">number</span></span>
        dot
    </ol>




</dd>
    <dt>
    <a name = "len"></a>
    <strong>len (a)</strong>
    </dt>
    <dd>
    Return the length of a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to get length of
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">number</span></span>
        len
    </ol>




</dd>
    <dt>
    <a name = "len2"></a>
    <strong>len2 (a)</strong>
    </dt>
    <dd>
    Return the squared length of a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to get length of
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">number</span></span>
        len
    </ol>




</dd>
    <dt>
    <a name = "scale"></a>
    <strong>scale (out, a, s)</strong>
    </dt>
    <dd>
    Multiply a quaternion by a scalar.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">s</span>
            <span class="types"><span class="type">number</span></span>
         Right hand operant
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "rotate"></a>
    <strong>rotate (angle, axis)</strong>
    </dt>
    <dd>
    Alias of from<em>angle</em>axis.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">angle</span>
            <span class="types"><span class="type">number</span></span>
         Angle (in radians)
        </li>
        <li><span class="parameter">axis</span>
            <span class="types"><span class="type">vec3</span></span>



        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "conjugate"></a>
    <strong>conjugate (out, a)</strong>
    </dt>
    <dd>
    Return the conjugate of a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to conjugate
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "inverse"></a>
    <strong>inverse (out, a)</strong>
    </dt>
    <dd>
    Return the inverse of a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to invert
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "reciprocal"></a>
    <strong>reciprocal (out, a)</strong>
    </dt>
    <dd>
    Return the reciprocal of a quaternion.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to reciprocate
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "lerp"></a>
    <strong>lerp (out, a, b, s)</strong>
    </dt>
    <dd>
    Lerp between two quaternions.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
        <li><span class="parameter">s</span>
            <span class="types"><span class="type">number</span></span>
         Step value
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "slerp"></a>
    <strong>slerp (out, a, b, s)</strong>
    </dt>
    <dd>
    Slerp between two quaternions.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">out</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to store the result
        </li>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Left hand operant
        </li>
        <li><span class="parameter">b</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Right hand operant
        </li>
        <li><span class="parameter">s</span>
            <span class="types"><span class="type">number</span></span>
         Step value
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "unpack"></a>
    <strong>unpack (a)</strong>
    </dt>
    <dd>
    Unpack a quaternion into individual components.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to unpack
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>
        <li>
           <span class="types"><span class="type">number</span></span>
        x</li>
        <li>
           <span class="types"><span class="type">number</span></span>
        y</li>
        <li>
           <span class="types"><span class="type">number</span></span>
        z</li>
        <li>
           <span class="types"><span class="type">number</span></span>
        w</li>
    </ol>




</dd>
    <dt>
    <a name = "is_quat"></a>
    <strong>is_quat (a)</strong>
    </dt>
    <dd>
    Return a boolean showing if a table is or is not a quat.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to be tested
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">boolean</span></span>
        is_quat
    </ol>




</dd>
    <dt>
    <a name = "is_zero"></a>
    <strong>is_zero (a)</strong>
    </dt>
    <dd>
    Return a boolean showing if a table is or is not a zero quat.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to be tested
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">boolean</span></span>
        is_zero
    </ol>




</dd>
    <dt>
    <a name = "is_real"></a>
    <strong>is_real (a)</strong>
    </dt>
    <dd>
    Return a boolean showing if a table is or is not a real quat.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to be tested
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">boolean</span></span>
        is_real
    </ol>




</dd>
    <dt>
    <a name = "is_imaginary"></a>
    <strong>is_imaginary (a)</strong>
    </dt>
    <dd>
    Return a boolean showing if a table is or is not an imaginary quat.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to be tested
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">boolean</span></span>
        is_imaginary
    </ol>




</dd>
    <dt>
    <a name = "to_angle_axis"></a>
    <strong>to_angle_axis (a)</strong>
    </dt>
    <dd>
    Convert a quaternion into an angle/axis pair.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to convert
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>
        <li>
           <span class="types"><span class="type">number</span></span>
        angle</li>
        <li>
           <span class="types"><span class="type">vec3</span></span>
        axis</li>
    </ol>




</dd>
    <dt>
    <a name = "to_vec3"></a>
    <strong>to_vec3 (a)</strong>
    </dt>
    <dd>
    Convert a quaternion into a vec3.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to convert
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><span class="type">vec3</span></span>
        out
    </ol>




</dd>
    <dt>
    <a name = "to_string"></a>
    <strong>to_string (a)</strong>
    </dt>
    <dd>
    Return a formatted string.


    <h3>Parameters:</h3>
    <ul>
        <li><span class="parameter">a</span>
            <span class="types"><a class="type" href="../modules/quat.html#quat">quat</a></span>
         Quaternion to be turned into a string
        </li>
    </ul>

    <h3>Returns:</h3>
    <ol>

           <span class="types"><a class="type" href="http://www.lua.org/manual/5.1/manual.html#5.4">string</a></span>
        formatted
    </ol>




</dd>
</dl>
    <h2 class="section-header "><a name="Tables"></a>Tables</h2>

    <dl class="function">
    <dt>
    <a name = "quat"></a>
    <strong>quat</strong>
    </dt>
    <dd>
    Constants


    <h3>Fields:</h3>
    <ul>
        <li><span class="parameter">unit</span>
         Unit quaternion
        </li>
        <li><span class="parameter">zero</span>
         Empty quaternion
        </li>
    </ul>





</dd>
</dl>


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